CN116908807A - Signal coupling model-based method for calculating radar cross section of swarm unmanned aerial vehicle - Google Patents
Signal coupling model-based method for calculating radar cross section of swarm unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a signal coupling model-based radar cross section calculation method for a bee colony unmanned aerial vehicle, which relates to the technical field of radar cross sections, and is used for selecting one unmanned aerial vehicle in the bee colony unmanned aerial vehicle and calculating a primary scattering signal of the unmanned aerial vehicle; calculating all secondary scattering signals under the coupling of the selected unmanned aerial vehicle and other unmanned aerial vehicles in the swarm unmanned aerial vehicle; superposing the primary scattered signal and all the secondary scattered signals by using a coherent superposition method; each unmanned aerial vehicle in the swarm unmanned aerial vehicle sequentially carries out the steps to obtain a primary scattering signal and all secondary scattering signals of each unmanned aerial vehicle in the swarm unmanned aerial vehicle; and obtaining radar echo signals of the swarm unmanned aerial vehicle according to the data, and further obtaining radar scattering cross sections of the swarm unmanned aerial vehicle. According to the method, the steps are adopted, and the radar scattering cross section information is accurately calculated based on the spatial position of the swarm unmanned aerial vehicle, the single-station radar scattering cross section and the double-station radar scattering cross section of the single unmanned aerial vehicle, radar incident signals and radar parameter information.
Description
Technical Field
The invention relates to the technical field of radar scattering cross sections, in particular to a method for calculating a radar scattering cross section of a bee colony unmanned aerial vehicle based on a signal coupling model.
Background
The bee colony unmanned aerial vehicle is one of a plurality of expansion application fields of unmanned aerial vehicles, and has the characteristics of low cost, quick deployment, strong burst prevention capability, capability of executing multiple tasks and the like. In recent years, the technology of the swarm unmanned aerial vehicle is rapidly developed, the swarm unmanned aerial vehicle is used as a target with higher degree of freedom and maneuverability, higher requirements are put forward on the radar target detection technology, and radar scattering cross section calculation aiming at the swarm unmanned aerial vehicle is significant in improving the radar detection capacity of the swarm unmanned aerial vehicle.
The problems that the cost is high, the consumption of computing resources is high, the multi-modal characteristics of the unmanned aerial vehicle cannot be fully covered and the like exist when the radar scattering cross section of the unmanned aerial vehicle is obtained by using darkroom measurement or a traditional full-wave simulation method. The signal coupling effect between unmanned aerial vehicles in the bee colony is not considered in the existing rapid calculation method for the radar scattering cross section of the bee colony unmanned aerial vehicle, and the obtained radar scattering cross section information of the bee colony unmanned aerial vehicle is not enough in accuracy. Therefore, a fast calculation method of radar cross section of a swarm unmanned aerial vehicle including signal coupling effect between unmanned aerial vehicles is needed.
Disclosure of Invention
The invention aims to provide a method for calculating radar cross sections of a swarm unmanned aerial vehicle based on a signal coupling model, which is used for accurately calculating radar cross section information based on the spatial position of the swarm unmanned aerial vehicle, single-station and double-station radar cross sections of a single unmanned aerial vehicle, radar incident signals and radar parameter information.
In order to achieve the aim, the invention provides a method for calculating the radar cross section of the swarm unmanned aerial vehicle based on a signal coupling model,
s1, selecting one unmanned aerial vehicle in the swarm unmanned aerial vehicles, and calculating a primary scattering signal of the unmanned aerial vehicle;
s2, calculating all secondary scattering signals under the coupling of the unmanned aerial vehicle selected in the S1 and other unmanned aerial vehicles in the swarm unmanned aerial vehicle;
s3, superposing the primary scattering signals in the S1 and all the secondary scattering signals in the S2 by using a coherent superposition method;
s4, sequentially carrying out steps S1-S3 on each unmanned aerial vehicle in the swarm unmanned aerial vehicle to obtain a primary scattering signal and all secondary scattering signals after the superposition of each unmanned aerial vehicle in the swarm unmanned aerial vehicle;
s5, obtaining radar echo signals of the swarm unmanned aerial vehicle according to the data in the S4, and further obtaining radar scattering cross sections of the swarm unmanned aerial vehicle.
Preferably, in S1, S11, the target of the swarm unmanned aerial vehicle is U
；
UsingRepresenting an ith unmanned aerial vehicle in the swarm unmanned aerial vehicles, i=1, 2, …, K;
s12, radar incident wave signal：
；
wherein ,representing the amplitude of the signal>For radar wave signal carrier frequency,/-, for>Representing time;
S13、is>：
；
wherein ,is->Yaw angle, pitch angle and roll angle at radar perspective, +.>Is a single-station radar cross section,/, for>Distance from radar, < >>For the speed of light->Normalized antenna gain attenuation factor for signal, +.>For maximum value of radar antenna radiation gain, +.>For the radiation gain of the radar antenna, +.>Respectively->And the included angle between the beam main axis of the radar antenna and the horizontal and vertical directions.
Preferably, in S2, the bee colony unmanned aerial vehicle is dividedOther unmanned aerial vehicles are defined as +.>，j=1,2,…,K,j≠i；
To->Is +.>：
；
wherein ,representation-> and />Distance between->Is->To->Incident radar wave signal during radiation>Is a factor of energy decay of (2);
to be used forIs>As a radiation source, then-> and />Under coupling conditions->Secondary scattering signal in radar direction +.>：
；
wherein ,is->Is>Is->To->Is incident on the direction of>Is->Scattering direction to radar direction, < >>Is->Distance from radar.
Preferably, in S3, a coherent superposition method is adoptedIs superimposed with all the secondary scattered signals to obtain +.>Radar echo signal +.>，
；
wherein ,is a primary scattered signal>Is a secondary scattering signal.
Preferably, in S5, the swarm unmanned aerial vehicleRadar echo signal +.>，
；
Bee colony unmanned aerial vehicleRadar cross section>，
。
Preferably, the method comprises the steps of,to->Incident radar wave signal during radiation>Energy attenuation factor->In order to achieve this, the first and second,
;
;
;
wherein ,is the radar wave incident angle of view +.>Yaw angle, pitch angle and roll angle of +.>Target coordinate system for origin, +.>To->Is +.>，/>Azimuth within the target coordinate system is defined as +.>The pitch angle is defined as +.>，/> and />The sampling intervals of the azimuth angle and the pitch angle in the target coordinate system are respectively, P is the number of angle sampling points in the azimuth angle dimension, and Q is the number of angle sampling points in the pitch angle dimension.
Therefore, the method for calculating the radar cross section of the swarm unmanned aerial vehicle based on the signal coupling model, which adopts the steps, has the advantages that:
1. the algorithm provided by the invention is based on the spatial position of the swarm unmanned aerial vehicle, the single-station radar and double-station radar scattering cross sections of the single unmanned aerial vehicle, radar incident signals and radar parameter information, and performs accurate calculation on the radar scattering cross section information;
2. the algorithm provided by the invention provides a reliable information source for researches such as radar cross section database establishment, radar target characteristic statistical model analysis, radar target detection and the like of the swarm unmanned aerial vehicle;
3. the algorithm provided by the invention can realize quasi-real-time calculation of the radar scattering cross section of the unmanned aerial vehicle with any mode, and can realize rapid calculation of the radar scattering cross section of the unmanned aerial vehicle with multi-mode in a dynamic scene.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
Fig. 1 is a flowchart of an embodiment of a method for calculating a radar cross section of a bee colony unmanned aerial vehicle based on a signal coupling model.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
Example 1
S1, selecting one unmanned aerial vehicle in the swarm unmanned aerial vehicles, and calculating a primary scattering signal of the unmanned aerial vehicle;
s1, S11, the target of the swarm unmanned aerial vehicle is U
;
UsingThe i-th unmanned aerial vehicle in the bee colony unmanned aerial vehicle is represented, i=1, 2, …, K.
S12, radar incident wave signal，
;
wherein ,representing the amplitude of the signal>For radar wave signal carrier frequency,/-, for>Time is indicated.
S13、Is>，
;
wherein ,is->Yaw angle, pitch angle and roll angle at radar perspective, +.>Is a single-station radar cross section,/, for>Distance from radar, < >>For the speed of light->Normalized antenna gain attenuation factor for signal, +.>For maximum value of radar antenna radiation gain, +.>For the radiation gain of the radar antenna, +.>Respectively->And the included angle between the beam main axis of the radar antenna and the horizontal and vertical directions.
The coordinates in the radar coordinate system are +.>，
;
The horizontal direction is defined as the (1, 0) vector direction in the radar coordinate system, the vertical direction is defined as the (0, 1, 0) vector direction in the radar coordinate system,the calculation method of (2) is as follows:
;
;
wherein , and />Is->The displacement from the radar beam center point in the horizontal and vertical dimensions is calculated as follows:
;
;
defining radar beam center point coordinates, wherein , and />The azimuth and elevation angles of the beam are scanned for the radar.
S2, calculating all secondary scattering signals under the coupling of the unmanned aerial vehicle selected in the S1 and other unmanned aerial vehicles in the swarm unmanned aerial vehicle;
s2, removing the swarm unmanned aerial vehicleOther unmanned aerial vehicles are defined as +.>，j=1,2,…,K,j≠i；
To->Is +.>：
;
wherein ,representation-> and />Distance between->Is->To->Incident radar wave signal during radiation>Is a factor of energy decay of (2);
；
；
；
wherein ,for a round-up function->Is the radar wave incident angle of view +.>Yaw angle, pitch angle and roll angle, +.>To->Is +.>To->Target coordinate system for origin, +.>Azimuth within the target coordinate system is defined as +.>The pitch angle is defined as +.>，/> and />And the sampling intervals are respectively the azimuth angle and the pitch angle under the target coordinate system, and P and Q are the number of the angle sampling points in the azimuth angle and pitch angle dimensions.
Definition of the definitionAt->The size of the space in the direction is +.>，/>Is the center point coordinate of (2)。
The spatial distribution range in the radar coordinate system is:
;
converting spatial distribution into azimuth angle in target coordinate systemAnd pitch angle->：
;
From the above, the minimum value can be obtainedMaximum-> 。
;
From the above, the minimum value can be obtainedMaximum->。
To be used forIs>As a radiation source, then-> and />Under the coupling condition, calculate +.>Secondary scattering signal in radar direction +.>：
;
;
wherein ,is->Is>Is->To->Is incident on the direction of>Is->Scattering direction to radar direction, < >>Is->Distance from radar.
S3, superposing the primary scattering signals in the S1 and all the secondary scattering signals in the S2 by using a coherent superposition method;
repeating the calculation step in S2, calculatingAnd other unmanned aerial vehicle->Is a secondary scattering signal of (a).
S3, adopting a coherent superposition method to carry outThe primary scattering signal and the secondary scattering signal are overlapped to obtainRadar echo signal +.>，
;
wherein ,is a primary scattered signal>Is a secondary scattering signal.
S4, sequentially carrying out steps S1-S3 on each unmanned aerial vehicle in the swarm unmanned aerial vehicle to obtain a primary scattering signal and all secondary scattering signals of each unmanned aerial vehicle in the swarm unmanned aerial vehicle.
S5, obtaining radar echo signals according to the data in the S4, and further obtaining radar scattering cross sections.
S5, bee colony unmanned aerial vehicleRadar echo signal +.>，
;
Bee colony unmanned aerial vehicleRadar cross section>，
。
Example 2
S1, selecting one unmanned aerial vehicle in the swarm unmanned aerial vehicles, and calculating a primary scattering signal of the unmanned aerial vehicle;
s1, S11, the target of the swarm unmanned aerial vehicle is U
;
UsingThe ith unmanned plane in the bee colony unmanned plane is represented, i=1, 2 and 3.
S12, radar incident wave signal：
;
wherein ,representing the amplitude of the signal, define->；/>For radar wave signal carrier frequency,/-, for>；/>Time of presentation->。
S13、Is>：
；
wherein ,is->Yaw angle at radar perspective of 27 °, pitch angle of 33 °, roll angle of 4 °,>is 0.31 m, and the three unmanned aerial vehicles have backward radar cross sections respectively 2 、0.19 m 2 、0.54 m 2 。
Distance from radar, < >>The coordinates in the radar coordinate system are/>，
；
For the speed of light->。
Normalized antenna gain attenuation factor for signal, +.>For maximum value of radar antenna radiation gain, +.>For the radiation gain of the radar antenna, +.>Respectively->And the included angle between the beam main axis of the radar antenna and the horizontal and vertical directions.
The horizontal direction is defined as the (1, 0) vector direction in the radar coordinate system, the vertical direction is defined as the (0, 1, 0) vector direction in the radar coordinate system,the calculation method of (2) is as follows:
；
；
wherein , and />Is->The displacement from the radar beam center point in the horizontal and vertical dimensions is calculated as follows:
；
；
defining radar beam center point coordinates, wherein , and />The beam is scanned for radar at an azimuth angle of 56 ° and a pitch angle of 3 °.
The calculation result shows that the method comprises the steps of,，/>。
s2, calculating all secondary scattering signals under the coupling of the unmanned aerial vehicle selected in the S1 and other unmanned aerial vehicles in the swarm unmanned aerial vehicle;
s2, removing the swarm unmanned aerial vehicleOther unmanned aerial vehicles are defined as +.>，j=1,2,3,j≠i；
To->Is +.>：
；
wherein ,representation-> and />Distance between->Is->To->Incident radar wave signal in radiation processIs a factor of energy decay of (2);
；
；
；
wherein ,for a round-up function->Is the radar wave incident angle of view +.>Yaw angle, pitch angle and roll angle, +.>To->Is +.>To->Target coordinate system for origin, +.>Azimuth within the target coordinate system is defined as +.>The pitch angle is defined as +.>，/> and />And the sampling intervals are respectively the azimuth angle and the pitch angle under the target coordinate system, and P and Q are the number of the angle sampling points in the azimuth angle and pitch angle dimensions.
Definition of the definitionAt->The size of the space in the direction is +.>，/>Is the center point coordinate of (2). In this embodiment, the unmanned plane has the same spatial dimensions, in +.>The spatial dimensions in the direction were 1.2m,1.9m,0.6m, respectively.
The spatial distribution range in the radar coordinate system is:
；
converting spatial distribution into azimuth angle in target coordinate systemAnd pitch angle->The method comprises the following steps:
；
from the above, the minimum value can be obtainedMaximum->In this embodiment +.>，/>。
；
From the above, the minimum value can be obtainedMaximum->In this embodiment +.>，/>Further get->。
To be used forIs>As a radiation source, then-> and />Under coupling conditions->Secondary scattering signal in radar direction +.>：
；
wherein ,is->Is>Is->To->Is incident on the direction of>Is->Scattering direction to radar direction, < >>Is->Distance from radar, < >>Is->Is defined, here, < >>。
S3, superposing the primary scattering signals in the S1 and all the secondary scattering signals in the S2 by using a coherent superposition method;
repeating the calculation step in S2, calculatingAnd other unmanned aerial vehicle->Is a secondary scattering signal of (a).
S3, adopting a coherent superposition method to carry outThe primary scattering signal and the secondary scattering signal are overlapped to obtainRadar echo signal +.>，
；
wherein ,is a primary scattered signal>Is a secondary scattering signal.
S4, sequentially carrying out steps S1-S3 on each unmanned aerial vehicle in the swarm unmanned aerial vehicle to obtain a primary scattering signal and all secondary scattering signals of each unmanned aerial vehicle in the swarm unmanned aerial vehicle.
The calculation shows that the radar echo signals of the three unmanned aerial vehicles at the time t in the embodiment are respectively 0.71，0.52/>，0.43/>。
S5, obtaining radar echo signals according to the data in the S4, and further obtaining radar scattering cross sections.
S5, bee colony unmanned aerial vehicleRadar echo signal +.>，
；
Bee colony unmanned aerial vehicleRadar cross section>，
；
In this embodiment, the radar cross section of the bee colony unmanned plane U obtained at time t is 1.26m 2 。
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (6)
1. A method for calculating radar cross section of a bee colony unmanned aerial vehicle based on a signal coupling model is characterized by comprising the following steps of:
s1, selecting one unmanned aerial vehicle in the swarm unmanned aerial vehicles, and calculating a primary scattering signal of the unmanned aerial vehicle;
s2, calculating all secondary scattering signals under the coupling of the unmanned aerial vehicle selected in the S1 and other unmanned aerial vehicles in the swarm unmanned aerial vehicle;
s3, superposing the primary scattering signals in the S1 and all the secondary scattering signals in the S2 by using a coherent superposition method;
s4, sequentially carrying out steps S1-S3 on each unmanned aerial vehicle in the swarm unmanned aerial vehicle to obtain a primary scattering signal and all secondary scattering signals after the superposition of each unmanned aerial vehicle in the swarm unmanned aerial vehicle;
s5, obtaining radar echo signals of the swarm unmanned aerial vehicle according to the data in the S4, and further obtaining radar scattering cross sections of the swarm unmanned aerial vehicle.
2. The method for calculating the radar cross section of the swarm unmanned aerial vehicle based on the signal coupling model according to claim 1, wherein the method comprises the following steps of: s1, S11, the target of the swarm unmanned aerial vehicle is U
；
UsingRepresenting an ith unmanned aerial vehicle in the swarm unmanned aerial vehicles, i=1, 2, …, K;
s12, radar incident wave signal：
；
wherein ,representing the amplitude of the signal>For radar wave signal carrier frequency,/-, for>Representing time;
S13、is of (1)Signal->：
；
wherein ,is->Yaw angle, pitch angle and roll angle at radar perspective, +.>Is a single-station radar cross section,/, for>Distance from radar, < >>For the speed of light->Normalized antenna gain attenuation factor for signal, +.>For maximum value of radar antenna radiation gain, +.>For the radiation gain of the radar antenna, +.>Respectively->And the included angle between the beam main axis of the radar antenna and the horizontal and vertical directions.
3. The method for calculating the radar cross section of the swarm unmanned aerial vehicle based on the signal coupling model according to claim 1, wherein the method comprises the following steps of: s2, removing the swarm unmanned aerial vehicleOther unmanned aerial vehicles are defined as +.>，j=1,2,…,K,j≠i；
To->Is +.>：
；
wherein ,representation-> and />Distance between->Is->To->Incident radar wave signal in radiation processIs a factor of energy decay of (2);
to be used forIs>As a radiation source, then-> and />Under coupling conditions->Secondary scattering signal in radar direction +.>：
；
wherein ,is->Is>Is->To->Is incident on the direction of>Is->Scattering direction to radar direction, < >>Is->Distance from radar.
4. The method for calculating the radar cross section of the swarm unmanned aerial vehicle based on the signal coupling model according to claim 1, wherein the method comprises the following steps of: s3, adopting a coherent superposition method to carry outIs superimposed with all the secondary scattered signals to obtain +.>Radar echo signal +.>，
；
wherein ,is a primary scattered signal>Is a secondary scattering signal.
5. The method for calculating the radar cross section of the swarm unmanned aerial vehicle based on the signal coupling model according to claim 1, wherein the method comprises the following steps of: s5, bee colony unmanned aerial vehicleRadar echo signal +.>，
；
Bee colony unmanned aerial vehicleRadar cross section>，
。
6. The method for calculating the radar cross section of the swarm unmanned aerial vehicle based on the signal coupling model according to claim 3, wherein the method comprises the following steps of:to->Incident radar wave signal during radiation>Energy attenuation factor->In order to achieve this, the first and second,
；
；
；
wherein ,is the radar wave incident angle of view +.>Yaw angle, pitch angle and roll angle of +.>Target coordinate system for origin, +.>To->Is +.>，/>Azimuth within the target coordinate system is defined as +.>The pitch angle is defined as +.>，/> and />The sampling intervals of the azimuth angle and the pitch angle in the target coordinate system are respectively, P is the number of angle sampling points in the azimuth angle dimension, and Q is the number of angle sampling points in the pitch angle dimension.
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